JP7224682B1 - 自律走行のための３次元多重客体検出装置及び方法 - Google Patents

自律走行のための３次元多重客体検出装置及び方法 Download PDF

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JP7224682B1
JP7224682B1 JP2021198447A JP2021198447A JP7224682B1 JP 7224682 B1 JP7224682 B1 JP 7224682B1 JP 2021198447 A JP2021198447 A JP 2021198447A JP 2021198447 A JP2021198447 A JP 2021198447A JP 7224682 B1 JP7224682 B1 JP 7224682B1
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object detection
point cloud
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JP2023027736A (ja
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ゴン ウー キム、
ホアン ユィ ロク
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Industry Academic Cooperation Foundation of CBNU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/766—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using regression, e.g. by projecting features on hyperplanes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
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  • Biomedical Technology (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Computational Linguistics (AREA)
  • Data Mining & Analysis (AREA)
  • Biophysics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
  • Aviation & Aerospace Engineering (AREA)
JP2021198447A 2021-08-17 2021-12-07 自律走行のための３次元多重客体検出装置及び方法 Active JP7224682B1 (ja)

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KR1020210108154A KR102681992B1 (ko) 2021-08-17 자율 주행을 위한 단일 계층 3차원 다중 객체 검출 장치 및 방법
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Cited By (4)

* Cited by examiner, † Cited by third party
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CN115965824A (zh) * 2023-03-01 2023-04-14 安徽蔚来智驾科技有限公司 点云数据标注方法、点云目标检测方法、设备及存储介质
CN116385452A (zh) * 2023-03-20 2023-07-04 广东科学技术职业学院 一种基于极坐标BEV图的LiDAR点云全景分割方法
CN116664825A (zh) * 2023-06-26 2023-08-29 北京智源人工智能研究院 面向大场景点云物体检测的自监督对比学习方法及***
JP7450654B2 (ja) 2022-02-10 2024-03-15 本田技研工業株式会社 移動体制御装置、移動体制御方法、学習装置、学習方法、およびプログラム

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* Cited by examiner, † Cited by third party
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CN116740669B (zh) * 2023-08-16 2023-11-14 之江实验室 多目图像检测方法、装置、计算机设备和存储介质

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JP2017166971A (ja) 2016-03-16 2017-09-21 株式会社デンソー 物体検出装置および物体検出プログラム
JP2019532433A (ja) 2016-10-11 2019-11-07 カールタ インコーポレイテッド リアルタイムオンラインエゴモーション推定を有するレーザスキャナ
JP2020042009A (ja) 2018-09-07 2020-03-19 バイドゥ オンライン ネットワーク テクノロジー （ベイジン） カンパニー リミテッド 点群における非地面点のフィルタリング方法、装置及び記憶媒体
WO2020253121A1 (zh) 2019-06-17 2020-12-24 商汤集团有限公司 目标检测方法和装置及智能驾驶方法、设备和存储介质
JP2021082296A (ja) 2019-11-22 2021-05-27 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． ３次元オブジェクトを分類するための方法及びそのシステム

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KR101655606B1 (ko) 2014-12-11 2016-09-07 현대자동차주식회사 라이다를 이용한 멀티 오브젝트 추적 장치 및 그 방법
US11592566B2 (en) * 2019-08-15 2023-02-28 Volvo Car Corporation Vehicle systems and methods utilizing LIDAR data for road condition estimation
CA3139421A1 (en) * 2020-11-17 2022-05-17 Uatc, Llc Automatic annotation of object trajectories in multiple dimensions

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JP2017166971A (ja) 2016-03-16 2017-09-21 株式会社デンソー 物体検出装置および物体検出プログラム
JP2019532433A (ja) 2016-10-11 2019-11-07 カールタ インコーポレイテッド リアルタイムオンラインエゴモーション推定を有するレーザスキャナ
JP2020042009A (ja) 2018-09-07 2020-03-19 バイドゥ オンライン ネットワーク テクノロジー （ベイジン） カンパニー リミテッド 点群における非地面点のフィルタリング方法、装置及び記憶媒体
WO2020253121A1 (zh) 2019-06-17 2020-12-24 商汤集团有限公司 目标检测方法和装置及智能驾驶方法、设备和存储介质
JP2021082296A (ja) 2019-11-22 2021-05-27 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． ３次元オブジェクトを分類するための方法及びそのシステム

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7450654B2 (ja) 2022-02-10 2024-03-15 本田技研工業株式会社 移動体制御装置、移動体制御方法、学習装置、学習方法、およびプログラム
CN115965824A (zh) * 2023-03-01 2023-04-14 安徽蔚来智驾科技有限公司 点云数据标注方法、点云目标检测方法、设备及存储介质
CN115965824B (zh) * 2023-03-01 2023-06-06 安徽蔚来智驾科技有限公司 点云数据标注方法、点云目标检测方法、设备及存储介质
CN116385452A (zh) * 2023-03-20 2023-07-04 广东科学技术职业学院 一种基于极坐标BEV图的LiDAR点云全景分割方法
CN116664825A (zh) * 2023-06-26 2023-08-29 北京智源人工智能研究院 面向大场景点云物体检测的自监督对比学习方法及***

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